Simple relay non-linear PD control for faster and high-precision motion systems with friction
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In: IET Control Theory and Applications, Vol. 12, No. 17, 27.11.2018, p. 2302-2308.
Research output: Journal contributions › Journal articles › Research › peer-review
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TY - JOUR
T1 - Simple relay non-linear PD control for faster and high-precision motion systems with friction
AU - Zheng, Chunhong
AU - Su, Yuxin
AU - Mercorelli, Paolo
N1 - © 2021 The Authors. IET Control Theory & Applications published by John Wiley & Sons, Ltd. on behalf of The Institution of Engineering and Technology
PY - 2018/11/27
Y1 - 2018/11/27
N2 - This study addresses the problem of robust faster and high-precision positioning of uncertain one-degree-of-freedom mechanical systems with friction. A very simple relay non-linear proportional–derivative (PD) controller is proposed. Global asymptotic positioning stability is proven by Lyapunov's direct method invoking Barbalat's lemma. The appealing features of the proposed control are that it is fairly easy to construct with simple intuitive structure and without reference to modelling parameter and the ability to ensure global asymptotic positioning stability featuring faster transient and higher steady-state precision. Simulations and experiments demonstrate the effectiveness and improved performance of the proposed approach.
AB - This study addresses the problem of robust faster and high-precision positioning of uncertain one-degree-of-freedom mechanical systems with friction. A very simple relay non-linear proportional–derivative (PD) controller is proposed. Global asymptotic positioning stability is proven by Lyapunov's direct method invoking Barbalat's lemma. The appealing features of the proposed control are that it is fairly easy to construct with simple intuitive structure and without reference to modelling parameter and the ability to ensure global asymptotic positioning stability featuring faster transient and higher steady-state precision. Simulations and experiments demonstrate the effectiveness and improved performance of the proposed approach.
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=85056301060&partnerID=8YFLogxK
U2 - 10.1049/iet-cta.2018.5715
DO - 10.1049/iet-cta.2018.5715
M3 - Journal articles
AN - SCOPUS:85056301060
VL - 12
SP - 2302
EP - 2308
JO - IET Control Theory and Applications
JF - IET Control Theory and Applications
SN - 1751-8644
IS - 17
ER -